CN111505538A - Magnetic field direction sensor correction and calculation method, device, storage medium and equipment - Google Patents
Magnetic field direction sensor correction and calculation method, device, storage medium and equipment Download PDFInfo
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- CN111505538A CN111505538A CN202010185343.5A CN202010185343A CN111505538A CN 111505538 A CN111505538 A CN 111505538A CN 202010185343 A CN202010185343 A CN 202010185343A CN 111505538 A CN111505538 A CN 111505538A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/0023—Electronic aspects, e.g. circuits for stimulation, evaluation, control; Treating the measured signals; calibration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/0023—Electronic aspects, e.g. circuits for stimulation, evaluation, control; Treating the measured signals; calibration
- G01R33/0035—Calibration of single magnetic sensors, e.g. integrated calibration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
Abstract
The invention discloses a method, a device, a storage medium and equipment for correcting and calculating a magnetic field direction sensor, and belongs to the field of sensors. The method makes the magnet rotate at least one circle, reads the X value and the Y value output by the sensor in the rotating process, and then calculates the offset, the amplitude and the phase of the X and the Y through the algorithm; and then, storing the calculated offset, amplitude and phase data to finish the correction. Thereafter, each time the X component and the Y component are read and the magnetic field angle is calculated, the X is calculated from the stored offset, amplitude and phase dataMAnd YMAnd substituting the angle into an angle calculation formula to obtain the accurate magnetic field direction. The correction method can be carried out only once, and correction is not needed to be carried out again. The invention can eliminate the influence of errors generated by the problem of assembly precision on the angle of the calculated magnetic field in the assembly process.
Description
Technical Field
The present invention relates to the field of sensors, and in particular, to a method and an apparatus for calibrating and calculating a magnetic field direction sensor, a computer-readable storage medium, and a computer-readable device.
Background
Along with the development and progress of modern industry, the electronic, intelligent and miniature industrial production is also followed, and the large-scale application of various sensors is not available. In order to meet the production requirements, the detection accuracy of the sensor is greatly improved, and higher requirements are also put forward on the installation accuracy of the sensor, and fig. 1 shows an assembly diagram of the sensor and a magnet.
Most of the magnetic field direction sensors on the market detect magnetic field components (hereinafter referred to as "X value" and "Y value") in the X-axis direction and the Y-axis direction of the magnetic field, and the microcontroller reads the values of the X component and the Y component sent by the sensors, so as to calculate the magnetic field angle α by using a trigonometric function.
However, in the current production and assembly links, such as sensor chip mounting, PCB mounting, magnet mounting and the like, errors of different degrees are generated, which cannot be eliminated, so that it cannot be ensured that the center of the sensor and the center of the magnet are absolutely located on the same axis, thereby generating offset conditions of different degrees, when the center of the sensor and the center of the magnet are not located on the same axis, the values of X and Y in the above formula are affected, and the calculation of the magnetic field angle α is finally affected.
From the simulation of the sensor of fig. 2 for magnet center offset distance versus error angle, it can be seen that when the offset distance exceeds 1mm, the actual calculated angle error will exceed 2 °, which is unacceptable for an accurate control system.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method, a device, a storage medium and equipment for correcting and calculating a magnetic field direction sensor, which can eliminate the influence of errors generated by the problem of assembly precision on the calculated magnetic field angle in the assembly process.
The technical scheme provided by the invention is as follows:
in a first aspect, the present invention provides a method for correcting a magnetic field direction sensor, the method comprising:
s1: rotating the magnet at least one revolution and acquiring n sets of X values X during the rotation1、X2…XnAnd n groups of Y values Y1、Y2…Yn；
S2: calculating the offset O of the X value by the formula (1) and the formula (2)XAnd offset O of Y valueY；
OX＝(X1+X2+…+Xn)/n ⑴
OY＝(Y1+Y2+…+Yn)/n ⑵
S3, calculating the angle change quantity delta β between two adjacent groups and the angle β of the m-th group through the formulas (3) and (4)m；
Δβ＝360/n ⑶
βm＝mΔβ(m＝1、2、3...n) ⑷
S4: calculating the real part X of the X value by the equations (5) to (8)rImaginary part of X value XiReal part of Y value YrAnd the imaginary part Y of the Y valuei；
Xr＝2*(X1*cosβ1+X2*cosβ2+…+Xn*cosβn)/n ⑸
Xi＝2*(X1*sinβ1+X2*sinβ2+…+Xn*sinβn)/n ⑹
Yr＝2*(Y1*cosβ1+Y2*cosβ2+…+Yn*cosβn)/n ⑺
Yi＝2*(X1*sinβ1+X2*sinβ2+…+Xn*sinβn)/n ⑻
S5: calculating the amplitude A of the X value by the equations (9) and (10)XAmplitude A of the sum Y valueY；
S6: the phase of the X value is calculated by the following equations (11) to (13)
Phase of Y value
Phase difference of sum
S7: offset O of X valueXOffset O of Y valueYAmplitude A of X valueXAmplitude of Y value AYPhase of X value
Phase of Y value
Phase difference of sum
And (5) storing.
Further, the magnetic field direction sensor correction method is executed when the product is powered on for the first time after being off-line.
Further, in S1, the magnet is rotated at least one turn by an external mechanical force, and n sets of X values and n sets of Y values are collected and recorded by the microcontroller; in S7, OX、OY、AX、AY、
Stored in a data storage area of the microcontroller.
In a second aspect, the present invention provides a magnetic field direction sensor correction device corresponding to the magnetic field direction sensor correction method of the first aspect, the device comprising:
a first acquisition module for rotating the magnet at least one turn and acquiring n groups of X values X in the rotation process1、X2…XnAnd n groups of Y values Y1、Y2…Yn；
A first calculation module for calculating the offset O of the X value by the formula (1) and the formula (2)XAnd offset O of Y valueY；
OX＝(X1+X2+…+Xn)/n ⑴
OY＝(Y1+Y2+…+Yn)/n ⑵
A second calculation module for calculating an angle change amount Δ β between two adjacent groups and an angle β of the m-th group by equations (3) and (4)m；
Δβ＝360/n ⑶
βm＝mΔβ(m＝1、2、3...n) ⑷
A third calculating module for calculating the real part X of the X value by the formulas (5) to (8)rImaginary part of X value XiReal part of Y value YrAnd the imaginary part Y of the Y valuei；
Xr＝2*(X1*cosβ1+X2*cosβ2+…+Xn*cosβn)/n ⑸
Xi＝2*(X1*sinβ1+X2*sinβ2+…+Xn*sinβn)/n ⑹
Yr＝2*(Y1*cosβ1+Y2*cosβ2+…+Yn*cosβn)/n ⑺
Yi＝2*(X1*sinβ1+X2*sinβ2+…+Xn*sinβn)/n ⑻
A fourth calculation module for calculating the amplitude A of the X value by the equations (9) and (10)XAmplitude A of the sum Y valueY；
A fifth calculation module for calculating the phase of the X value by the equations (11) to (13)
Phase of Y value
Phase difference of sum
A storage module for shifting the X value by an offset OXOffset O of Y valueYAmplitude A of X valueXAmplitude of Y value AYPhase of X value
Phase of Y value
Phase difference of sum
And (5) storing.
Furthermore, when the product is electrified for the first time after being off-line, the magnetic field direction sensor correcting device is executed.
Furthermore, in the first acquisition module, the magnet is rotated for at least one circle by external mechanical force, and n groups of X values and n groups of Y values are acquired and recorded by the microcontroller; in the memory module, OX、OY、AX、AY、
Stored in a data storage area of the microcontroller.
In a third aspect, the present invention provides a computer readable storage medium for magnetic field direction sensor correction, comprising a memory for storing processor executable instructions which, when executed by the processor, implement steps comprising the magnetic field direction sensor correction method of the first aspect.
In a fourth aspect, the present invention provides an apparatus for magnetic field direction sensor correction, comprising at least one processor and a memory storing computer executable instructions, which when executed by the processor implement the steps of the magnetic field direction sensor correction method of the first aspect.
In a fifth aspect, the present invention provides a magnetic field direction sensor calculation method, the method comprising:
s1': obtaining an X value X and a Y value Y;
s2': the offset between X and Y is eliminated by the equations (14) and (15) to obtain XaAnd Ya；
Xa＝X-OX⒁
Ya＝Y-OY⒂
S3': by eliminating the influence of the amplitudes of X and Y by the equations (16) and (17), X is obtainedbAnd Yb；
Xb＝Xa/AX⒃
Yb＝Ya/AY⒄
S4': x and Y are calibrated by the formulas (18) and (19) to obtain XMAnd YM；
XM＝Xb⒅
S5', calculating a magnetic field angle α by the formula (20);
wherein, OX、OY、AX、AY、
Calculated by the magnetic field direction sensor correction method described in the first aspect, and stored.
In a sixth aspect, the present invention provides a magnetic-field-direction-sensor calculating apparatus corresponding to the magnetic-field-direction-sensor calculating method of the fifth aspect, the apparatus including:
the second acquisition module is used for acquiring an X value X and a Y value Y;
a sixth calculating module for eliminating the offset of X and Y by the formula (14) and the formula (15) to obtain XaAnd Ya；
Xa＝X-OX⒁
Ya＝Y-OY⒂
A seventh calculation module for eliminating the amplitude influence of X and Y by the formula (16) and the formula (17) to obtain XbAnd Yb；
Xb＝Xa/AX⒃
Yb＝Ya/AY⒄
An eighth calculation module for calibrating X and Y by the equations (18) and (19) to obtain XMAnd YM；
XM＝Xb⒅
A ninth calculation module, configured to calculate a magnetic field angle α according to equation (20);
wherein, OX、OY、AX、AY、
Calculated and stored by the magnetic field direction sensor correction device according to the second aspect.
In a seventh aspect, the present invention provides a computer-readable storage medium for magnetic field direction sensor computation, comprising a memory for storing processor-executable instructions that, when executed by the processor, implement steps comprising the magnetic field direction sensor computation method of the fifth aspect.
In an eighth aspect, the present invention provides an apparatus for magnetic field direction sensor calculation, comprising at least one processor and a memory storing computer executable instructions, which when executed by the processor implement the steps of the magnetic field direction sensor calculation method according to the fifth aspect.
The invention has the following beneficial effects:
the invention provides a method for correcting the influence of the center of a magnetic field direction sensor on the X component and the Y component of the sensor output under the condition that the assembly precision of the magnetic field direction sensor relative to a rotatable magnet cannot be guaranteed and the center of the sensor and the center of the rotatable magnet are not on the same axis, so that the final angle value calculation is influenced.
The method comprises the steps that a magnet rotates at least one circle, the values of an X component and a Y component output by a sensor are read through a microcontroller in the rotating process, and the offset, the amplitude and the phase of the X component and the Y component can be calculated through the algorithm; the calculated offset, amplitude and phase data is then saved to a data storage area of the microcontroller. Thus, the offset, amplitude and phase of the offset sensor and the magnet center axis are permanently recorded, and the correction is completed. Thereafter, each time the X component and the Y component are read and the magnetic field angle is calculated, the X is calculated from the stored offset, amplitude and phase dataMAnd YMAnd substituting the angle into an angle calculation program to obtain the accurate magnetic field direction. The calibration mode can be entered only once, and no calibration is needed again thereafter.
The correction method of the magnetic field direction sensor can eliminate the influence of errors generated by the problem of assembly precision on the calculation of the magnetic field angle in the assembly process.
Drawings
FIG. 1 is an assembly view of a magnetic field sensor and a magnet;
FIG. 2 is a simulated graph of sensor versus magnet center offset distance and error angle;
FIG. 3 is a flow chart of a method for calibrating a magnetic field direction sensor according to the present invention;
FIG. 4 is a graph of output affected by assembly accuracy;
FIG. 5 is a graph of the output curve after calibration of the offset;
FIG. 6 is a graph of the output after calibration of offset and amplitude;
FIG. 7 is a graph of the output after calibration is complete;
FIG. 8 is a schematic diagram of a magnetic field direction sensor calibration apparatus according to the present invention;
FIG. 9 is a flow chart of a magnetic field direction sensor calculation method of the present invention;
fig. 10 is a schematic diagram of a magnetic field direction sensor computing device according to the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
an embodiment of the present invention provides a method for correcting a magnetic field direction sensor, as shown in fig. 3, the method includes:
s1: rotating the magnet at least one revolution and acquiring n sets of X values X during the rotation1、X2…XnAnd n groups of Y values Y1、Y2…Yn。
In the step, the magnet is rotated at least one circle along the same direction by external mechanical force, and n groups of data are collected in the rotating process, wherein the n groups of data have errors due to the problem of assembly precision. The curve of fig. 4 shows very well the output error of the X value and the Y value due to the problem of assembly accuracy, which can be effectively eliminated by using the method of the present invention. When n groups of data are obtained, the sensor is connected with the microcontroller, and the microcontroller reads and records the analog signals or the digital signals sent by the sensor to obtain n groups of X values and n groups of Y values.
S2: calculating the X value by the formula (1) and the formula (2)Offset amount of (A) OXAnd offset O of Y valueY。
OX＝(X1+X2+…+Xn)/n ⑴
OY＝(Y1+Y2+…+Yn)/n⑵
In the step, the offset is calculated through n groups of data of X values and Y values, and the average value of the n groups of data is the offset of X and Y, namely the equations ⑴ and ⑵.
Subtracting the offset from the X value and the Y value to obtain X and Y data after the offset is eliminated, and taking the X value and the Y value as the X valueaAnd YaRepresents the data after the offset is eliminated, and the curve shown in FIG. 5 is XaAnd YaGraph is shown. In contrast to FIG. 4, it can be seen that FIG. 5 eliminates the offset OXAnd OY。
S3, calculating the angle change quantity delta β between two adjacent groups and the angle β of the m-th group through the formulas (3) and (4)m。
Δβ＝360/n ⑶
βm＝mΔβ(m＝1、2、3...n) ⑷
This step is used to calculate the reference angle in the ideal case, as shown in expressions ⑶ and ⑷, where Δ β represents the amount of change between the i-th group and the i + 1-th group in the ideal case, βmRepresenting the angle of the mth group in an ideal case.
S4: calculating the real part X of the X value by the equations (5) to (8)rImaginary part of X value XiReal part of Y value YrAnd the imaginary part Y of the Y valuei。
Xr＝2*(X1*cosβ1+X2*cosβ2+…+Xn*cosβn)/n ⑸
Xi＝2*(X1*sinβ1+X2*sinβ2+…+Xn*sinβn)/n ⑹
Yr＝2*(Y1*cosβ1+Y2*cosβ2+…+Yn*cosβn)/n ⑺
Yi＝2*(X1*sinβ1+X2*sinβ2+…+Xn*sinβn)/n ⑻
In order to calculate the subsequent amplitude and phase, the real part and the imaginary part need to be calculated first, and the calculation manner is shown in expressions (5) to (8).
S5: calculating the amplitude A of the X value by the equations (9) and (10)XAmplitude A of the sum Y valueY。
In this step, the amplitude, A, can be calculated by expressions ⑼ and ⑽ according to the real part and imaginary part obtained aboveXAmplitude of X value, AYThe amplitude is the Y value.
Mixing XaAnd YaDividing by the amplitude to obtain a value, X, without the effect of the amplitudebAnd YbFIG. 6 shows a graph of X after the offset and amplitude effects have been eliminatedbAnd YbCurve line. In contrast to fig. 4 and 5, it can be seen that fig. 6 eliminates the offset OXAnd OYAnd the amplitude A is eliminatedXAnd AYThe influence of (c).
S6: the phase of the X value is calculated by the following equations (11) to (13)
Phase of Y value
Phase difference of sum
This step can calculate the phases of X and Y by expressions ⑾ and ⑿, where
The phase of the X value is represented,
expressing the phase of the Y value, and the phase difference can be calculated by expression ⒀, i.e.
S7: offset O of X valueXOffset O of Y valueYAmplitude A of X valueXAmplitude of Y value AYPhase of X value
Phase of Y value
Phase difference of sum
And (5) storing.
This step will calculate O from the above algorithmX、OY、AX、AY、
And
are stored, preferably in a data storage area of the microcontroller, completing the calibration. The magnetic field direction sensor obtains X and Y values when used subsequently, and the X and Y values have errors and pass through the stored OX、OY、AX、AY、
And
correcting to obtain corrected X and Y, namely XMAnd YM. FIG. 7 shows the resulting XMAnd YMThe curve is an output curve after the correction is completed. In contrast to FIGS. 4-6, it can be seen that FIG. 7 eliminates the offset OXAnd OYThe amplitude A is eliminatedXAnd AYAnd the influence of the phase is eliminated. Finally, by XMAnd YMThe corrected magnetic field angle α is obtained.
The invention provides a method for correcting the influence of the center of a magnetic field direction sensor on the X component and the Y component of the sensor output under the condition that the assembly precision of the magnetic field direction sensor relative to a rotatable magnet cannot be guaranteed and the center of the sensor and the center of the rotatable magnet are not on the same axis, so that the final angle value calculation is influenced.
The method comprises the steps that a magnet rotates at least one circle, the values of an X component and a Y component output by a sensor are read through a microcontroller in the rotating process, and the offset, the amplitude and the phase of the X component and the Y component can be calculated through the algorithm; the calculated offset, amplitude and phase data is then saved to a data storage area of the microcontroller. Thus, the offset, amplitude and phase of the offset sensor and the magnet center axis are permanently recorded, and the correction is completed. Thereafter, each time the X component and the Y component are read and the magnetic field angle is calculated, the X is calculated from the stored offset, amplitude and phase dataMAnd YMAnd substituting the angle into an angle calculation program to obtain the accurate magnetic field direction. The calibration mode can be entered only once, and no calibration is needed again thereafter.
The correction method of the magnetic field direction sensor can eliminate the influence of errors generated by the problem of assembly precision on the calculation of the magnetic field angle in the assembly process.
The invention does not limit the timing of correction, and as a preferred example, the magnetic field direction sensor correction method may be executed when the product is powered on for the first time after being off-line. The correction method only needs to be carried out once when the product is assembled and the first power-on operation is carried out (the correction is carried out by professional personnel in a factory), and the correction is not needed again when the product is used by a user.
From the above, the present invention provides a method for correcting a magnetic field direction sensor, which is suitable for the case where the sensor is offset from the central axis of the magnet. By operating the correction method after the equipment is assembled, the acquired and calculated error data can be stored in a storage area of the microcontroller, and then the error data is taken out from the storage area and participates in the calculation of the magnetic field angle every time the magnetic field angle is calculated, so that the influence caused by insufficient assembly precision can be eliminated.
The method is not only suitable for calibrating the magnetic field direction sensor, but also can be used for calibrating sensors which detect the angular directions of other physical quantities and output X-axis and Y-axis components of the sensors.
Example 2:
an embodiment of the present invention provides a magnetic field direction sensor calibration apparatus, as shown in fig. 8, the apparatus includes:
a first acquisition module 10 for rotating the magnet at least one revolution and acquiring n sets of X values X during the rotation1、X2…XnAnd n groups of Y values Y1、Y2…Yn。
A first calculation module 20 for calculating the offset O of the X value by the formula (1) and the formula (2)XAnd offset O of Y valueY。
OX＝(X1+X2+…+Xn)/n ⑴
OY＝(Y1+Y2+…+Yn)/n ⑵
A second calculating module 30 for calculating the angle change amount Δ β between two adjacent groups and the angle β of the m-th group by equations (3) and (4)m。
Δβ＝360/n ⑶
βm＝mΔβ(m＝1、2、3...n) ⑷
A third calculating module 40 for calculating the real part X of the X value by the equations (5) to (8)rImaginary part of X value XiReal part of Y value YrAnd the imaginary part Y of the Y valuei。
Xr＝2*(X1*cosβ1+X2*cosβ2+…+Xn*cosβn)/n ⑸
Xi＝2*(X1*sinβ1+X2*sinβ2+…+Xn*sinβn)/n ⑹
Yr＝2*(Y1*cosβ1+Y2*cosβ2+…+Yn*cosβn)/n ⑺
Yi＝2*(X1*sinβ1+X2*sinβ2+…+Xn*sinβn)/n ⑻
A fourth calculation module 50 for calculating the amplitude A of the X value by the equations (9) and (10)XAmplitude A of the sum Y valueY。
A fifth calculation module 60 for calculating the phase of the X value by the equations (11) to (13)
Phase of Y value
Phase difference of sum
A storage module 70 for storing the offset O of the X valueXOffset O of Y valueYAmplitude A of X valueXAmplitude of Y value AYPhase of X value
Phase of Y value
Phase difference of sum
And (5) storing.
The correction device of the magnetic field direction sensor can eliminate the influence of errors generated by the problem of assembly precision on the calculation of the magnetic field angle in the assembly process.
The invention does not limit the timing of correction, and as a preferred example, the magnetic field direction sensor correction device may be executed when the product is powered on for the first time after being off-line.
In the first acquisition module, the magnet is rotated at least one turn, preferably by external mechanical force, and the n sets of X values and n sets of Y values are acquired and recorded by the microcontroller; in the memory module, OX、OY、AX、AY、
Preferably in a data storage area of the microcontroller.
The device provided by the embodiment of the present invention has the same implementation principle and technical effect as the method embodiment 1, and for the sake of brief description, reference may be made to the corresponding content in the method embodiment 1 for the part where the embodiment of the device is not mentioned. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the apparatus and the unit described above may all refer to the corresponding processes in the above method embodiment 1, and are not described herein again.
Example 3:
the method provided by this specification and described in the above embodiment 1 can implement the service logic through a computer program and record the service logic on a storage medium, and the storage medium can be read and executed by a computer, so as to achieve the effect of the solution described in embodiment 1 of this specification. Accordingly, the present invention also provides a computer readable storage medium for magnetic field direction sensor correction, comprising a memory for storing processor executable instructions which, when executed by a processor, implement steps comprising the magnetic field direction sensor correction method of embodiment 1.
The invention can eliminate the influence of errors generated by the problem of assembly precision on the angle of the calculated magnetic field in the assembly process.
The storage medium may include a physical device for storing information, and typically, the information is digitized and then stored using an electrical, magnetic, or optical media. The storage medium may include: devices that store information using electrical energy, such as various types of memory, e.g., RAM, ROM, etc.; devices that store information using magnetic energy, such as hard disks, floppy disks, tapes, core memories, bubble memories, and usb disks; devices that store information optically, such as CDs or DVDs. Of course, there are other ways of storing media that can be read, such as quantum memory, graphene memory, and so forth.
The device described above may also include other implementations in accordance with the description of method embodiment 1. The specific implementation manner may refer to the description of the related method embodiment 1, and is not described in detail here.
Example 4:
the invention also provides a device for correcting the magnetic field direction sensor, which can be a single computer, and can also comprise an actual operating device using one or more methods or one or more embodiment devices in the specification, and the like. The apparatus for magnetic field direction sensor correction may include at least one processor and a memory storing computer-executable instructions that, when executed by the processor, implement the steps of the magnetic field direction sensor correction method described in any one or more of embodiments 1 above.
The invention can eliminate the influence of errors generated by the problem of assembly precision on the angle of the calculated magnetic field in the assembly process.
The above description of the device according to the method or apparatus embodiment may also include other implementation manners, and a specific implementation manner may refer to the description of related method embodiment 1, which is not described in detail herein.
Example 5:
the embodiment of the invention provides a magnetic field direction sensor calculation method which is carried out based on the magnetic field direction sensor correction method described in the embodiment 1. First, the offset O of the X value is obtained by the magnetic field direction sensor calibration method described in embodiment 1XOffset O of Y valueYAmplitude A of X valueXAmplitude of Y value AYPhase of X value
Phase of Y value
Phase difference of sum
And stores the O stored in the calculation method of the magnetic field direction sensor of the embodimentX、OY、AX、AY、
And
and (6) correcting.
In an example, after the product is off-line and powered on for the first time, the calibration is performed by the magnetic field direction sensor calibration method described in embodiment 1, and then each time the magnetic field angle needs to be calculated, the magnetic field direction sensor calculation method of this embodiment is executed to obtain the calculated final magnetic field angle.
As shown in fig. 9, the magnetic field direction sensor calculation method of the present embodiment includes:
s1': and obtaining an X value X and a Y value Y.
S2': the offset between X and Y is eliminated by the equations (14) and (15) to obtain XaAnd Ya。
Xa＝X-OX⒁
Ya＝Y-OY⒂
Offset OXAnd OYThe magnetic field direction sensor calibration method described in embodiment 1 is used to obtain and store the data, and the data is read out from the storage space.
Subtracting the offset from the X value and the Y value to obtain X and Y data X with the offset eliminatedaAnd YaFIG. 5 shows a curve XaAnd YaGraph is shown. In contrast to FIG. 4, it can be seen that FIG. 5 eliminates the offset OXAnd OY。
S3': by eliminating the influence of the amplitudes of X and Y by the equations (16) and (17), X is obtainedbAnd Yb。
Xb＝Xa/AX⒃
Yb＝Ya/AY⒄
Amplitude AXAnd AYThe magnetic field direction sensor calibration method described in embodiment 1 is used to obtain and store the data, and the data is read out from the storage space.
Mixing XaAnd YaDivided by the amplitude A, respectivelyXAnd AYThe value after eliminating the influence of the amplitude, namely X, can be obtainedbAnd YbFIG. 6 shows a graph of X after the offset and amplitude effects have been eliminatedbAnd YbCurve line. In contrast to FIGS. 4 and 5, it can be seen that the figures6 offset O is eliminatedXAnd OYAnd the amplitude A is eliminatedXAnd AYThe influence of (c).
S4': x and Y are calibrated by the formulas (18) and (19) to obtain XMAnd YM。
XM＝Xb⒅
The invention obtains the offset values, amplitudes and phases of X and Y by the method of the embodiment 1, and then the finally required X can be obtained by the steps of the embodiment through the expressions ⒅ and ⒆MAnd YMI.e. XMAnd YMAre the calibrated X and Y values. FIG. 7 shows the resulting XMAnd YMComparing the curves with FIGS. 4-6, it can be seen that FIG. 7 eliminates the offset OXAnd OYThe amplitude A is eliminatedXAnd AYAnd the influence of the phase is eliminated.
S5', calculating a magnetic field angle α by the formula (20);
wherein the aforementioned OX、OY、AX、AY、
Calculated by the magnetic field direction sensor correction method described in embodiment 1 and stored.
The magnetic field direction sensor calculating method can eliminate the influence of errors generated by the problem of assembling precision on the calculated magnetic field angle in the assembling process.
Example 6:
an embodiment of the present invention provides a magnetic field direction sensor calculation apparatus, as shown in fig. 10, the apparatus including:
a second obtaining module 10' for obtaining the X value X and the Y value Y.
A sixth calculating module 20' for eliminating the offset of X and Y by the equations (14) and (15) to obtain XaAnd Ya。
Xa＝X-OX⒁
Ya＝Y-OY⒂
A seventh calculation module 30' for eliminating the amplitude influence of X and Y by the equations (16) and (17) to obtain XbAnd Yb。
Xb＝Xa/AX⒃
Yb＝Ya/AY⒄
An eighth calculation module 40' for calibrating X and Y by equations (18) and (19) to obtain XMAnd YM；
XM＝Xb⒅
A ninth calculating module 50' for calculating the magnetic field angle α by the equation (20);
wherein, OX、OY、AX、AY、
Calculated by the magnetic field direction sensor correction device described in embodiment 2 and stored.
The magnetic field direction sensor calculating device can eliminate the influence of errors generated by the problem of assembling precision on the calculated magnetic field angle in the assembling process.
The device provided by the embodiment of the present invention has the same implementation principle and technical effect as the method embodiment 5, and for the sake of brief description, reference may be made to the corresponding content in the method embodiment 5 for the part where the embodiment of the device is not mentioned. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the apparatus and the unit described above may refer to the corresponding processes in the above method embodiment 5, and are not described herein again.
Example 7:
the method provided by this specification and described in the above embodiment 5 can implement the service logic through a computer program and record the service logic on a storage medium, and the storage medium can be read and executed by a computer, so as to achieve the effect of the solution described in embodiment 5 of this specification. Accordingly, the present invention also provides a computer readable storage medium for magnetic field direction sensor computation, comprising a memory for storing processor executable instructions which, when executed by a processor, implement steps comprising the magnetic field direction sensor computation method of embodiment 5.
The invention can eliminate the influence of errors generated by the problem of assembly precision on the angle of the calculated magnetic field in the assembly process.
The storage medium may include a physical device for storing information, and typically, the information is digitized and then stored using an electrical, magnetic, or optical media. The storage medium may include: devices that store information using electrical energy, such as various types of memory, e.g., RAM, ROM, etc.; devices that store information using magnetic energy, such as hard disks, floppy disks, tapes, core memories, bubble memories, and usb disks; devices that store information optically, such as CDs or DVDs. Of course, there are other ways of storing media that can be read, such as quantum memory, graphene memory, and so forth.
The device described above may also include other implementations in accordance with the description of method embodiment 5. The specific implementation manner may refer to the description of the related method embodiment 5, which is not described in detail herein.
Example 8:
the invention also provides a device for calculating the magnetic field direction sensor, which can be a single computer, and can also comprise an actual operating device using one or more methods or one or more embodiment devices in the specification, and the like. The apparatus for magnetic field direction sensor calculation may comprise at least one processor and a memory storing computer executable instructions which when executed by the processor implement the steps of the magnetic field direction sensor calculation described in any one or more of embodiments 5 above.
The invention can eliminate the influence of errors generated by the problem of assembly precision on the angle of the calculated magnetic field in the assembly process.
The above description of the device according to the method or apparatus embodiment may also include other implementation manners, and a specific implementation manner may refer to the description of related method embodiment 5, which is not described in detail herein.
It should be noted that, the above-mentioned apparatus or system in this specification may also include other implementation manners according to the description of the related method embodiment, and a specific implementation manner may refer to the description of the method embodiment, which is not described herein in detail. The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the hardware + program class, storage medium + program embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for the relevant points, refer to the partial description of the method embodiment.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a vehicle-mounted human-computer interaction device, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various modules by functions, and are described separately. Of course, when implementing one or more of the present description, the functions of each module may be implemented in one or more software and/or hardware, or a module implementing the same function may be implemented by a combination of multiple sub-modules or sub-units, etc. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may therefore be considered as a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method or apparatus that comprises the element.
As will be appreciated by one skilled in the art, one or more embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, one or more embodiments of the present description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, one or more embodiments of the present description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
One or more embodiments of the present description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. One or more embodiments of the present specification can also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment. In the description of the specification, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the specification. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the present invention in its spirit and scope. Are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A magnetic field direction sensor calibration method, the method comprising:
s1: rotating the magnet at least one revolution and acquiring n sets of X values X during the rotation1、X2…XnAnd n groups of Y values Y1、Y2…Yn；
S2: calculating the offset O of the X value by the formula (1) and the formula (2)XAnd offset O of Y valueY；
OX＝(X1+X2+…+Xn)/n ⑴
OY＝(Y1+Y2+…+Yn)/n ⑵
S3, calculating the angle change quantity delta β between two adjacent groups and the angle β of the m-th group through the formulas (3) and (4)m；
Δβ＝360/n ⑶
βm＝mΔβ(m＝1、2、3...n) ⑷
S4: calculating the real part X of the X value by the equations (5) to (8)rImaginary part of X value XiReal part of Y value YrAnd the imaginary part Y of the Y valuei；
Xr＝2*(X1*cosβ1+X2*cosβ2+…+Xn*cosβn)/n ⑸
Xi＝2*(X1*sinβ1+X2*sinβ2+…+Xn*sinβn)/n ⑹
Yr＝2*(Y1*cosβ1+Y2*cosβ2+…+Yn*cosβn)/n ⑺
Yi＝2*(X1*sinβ1+X2*sinβ2+…+Xn*sinβn)/n ⑻
S5: calculating the amplitude A of the X value by the equations (9) and (10)XAmplitude A of the sum Y valueY；
S6: the phase of the X value is calculated by the following equations (11) to (13)
Phase of Y value
Phase difference of sum
S7: offset O of X valueXOffset O of Y valueYAmplitude A of X valueXAmplitude of Y value AYPhase of X value
Phase of Y value
Phase difference of sum
And (5) storing.
2. The method of claim 1, wherein the method of calibrating the magnetic field direction sensor is performed when the product is first powered up after being taken off-line.
3. The method of claim 2, wherein in S1, the magnet is rotated at least one turn by an external mechanical force, and n sets of X and Y values are collected and recorded by the microcontroller; in S7, OX、OY、AX、AY、
Stored in a data storage area of the microcontroller.
4. A magnetic field direction sensor calibration apparatus, the apparatus comprising:
a first acquisition module for rotating the magnet at least one turn and acquiring n groups of X values X in the rotation process1、X2…XnAnd n groups of Y values Y1、Y2…Yn；
A first calculation module for calculating the offset O of the X value by the formula (1) and the formula (2)XAnd offset O of Y valueY；
OX＝(X1+X2+…+Xn)/n ⑴
OY＝(Y1+Y2+…+Yn)/n ⑵
A second calculation module for calculating an angle change amount Δ β between two adjacent groups and an angle β of the m-th group by equations (3) and (4)m；
Δβ＝360/n ⑶
βm＝mΔβ(m＝1、2、3...n) ⑷
A third calculating module for calculating the real part X of the X value by the formulas (5) to (8)rImaginary part of X value XiReal part of Y value YrAnd the imaginary part Y of the Y valuei；
Xr＝2*(X1*cosβ1+X2*cosβ2+…+Xn*cosβn)/n ⑸
Xi＝2*(X1*sinβ1+X2*sinβ2+…+Xn*sinβn)/n ⑹
Yr＝2*(Y1*cosβ1+Y2*cosβ2+…+Yn*cosβn)/n ⑺
Yi＝2*(X1*sinβ1+X2*sinβ2+…+Xn*sinβn)/n ⑻
A fourth calculation module for calculating the amplitude A of the X value by the equations (9) and (10)XAmplitude A of the sum Y valueY；
A fifth calculation module for calculating the phase of the X value by the equations (11) to (13)
Phase of Y value
Phase difference of sum
A storage module for shifting the X value by an offset OXOffset O of Y valueYAmplitude A of X valueXAmplitude of Y value AYPhase of X value
Phase of Y value
Phase difference of sum
And (5) storing.
5. A computer-readable storage medium for magnetic field direction sensor correction, comprising a memory for storing processor-executable instructions that, when executed by the processor, perform steps comprising the magnetic field direction sensor correction method of any of claims 1-3.
6. An apparatus for magnetic field direction sensor correction, comprising at least one processor and a memory storing computer executable instructions which when executed by the processor implement the steps of the magnetic field direction sensor correction method of any of claims 1-3.
7. A magnetic field direction sensor calculation method, the method comprising:
s1': obtaining an X value X and a Y value Y;
s2': the offset between X and Y is eliminated by the equations (14) and (15) to obtain XaAnd Ya；
Xa＝X-OX⒁
Ya＝Y-OY⒂
S3': by eliminating the influence of the amplitudes of X and Y by the equations (16) and (17), X is obtainedbAnd Yb；
Xb＝Xa/AX⒃
Yb＝Ya/AY⒄
S4': x and Y are calibrated by the formulas (18) and (19) to obtain XMAnd YM；
XM＝Xb⒅
S5', calculating a magnetic field angle α by the formula (20);
wherein, OX、OY、AX、AY、
Calculated and stored by the magnetic field direction sensor calibration method of any one of claims 1-3.
8. A magnetic field direction sensor computing apparatus, the apparatus comprising:
the second acquisition module is used for acquiring an X value X and a Y value Y;
a sixth calculating module for eliminating the offset of X and Y by the formula (14) and the formula (15) to obtain XaAnd Ya；
Xa＝X-OX⒁
Ya＝Y-OY⒂
A seventh calculation module for eliminating the amplitude influence of X and Y by the formula (16) and the formula (17) to obtain XbAnd Yb；
Xb＝Xa/AX⒃
Yb＝Ya/AY⒄
An eighth calculation module for calibrating X and Y by the equations (18) and (19) to obtain XMAnd YM；
XM＝Xb⒅
A ninth calculation module, configured to calculate a magnetic field angle α according to equation (20);
wherein, OX、OY、AX、AY、
Calculated and stored by the magnetic field direction sensor correction device of claim 4.
9. A computer-readable storage medium for magnetic field direction sensor computation, comprising a memory for storing processor-executable instructions that, when executed by the processor, implement steps comprising the magnetic field direction sensor computation method of claim 7.
10. An apparatus for magnetic field direction sensor computation, comprising at least one processor and a memory storing computer-executable instructions that, when executed by the processor, implement the steps of the magnetic field direction sensor computation method of claim 7.
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